Trajectory tracking control method of reconfigurable modular flexible manipulator based on parameter optimization

Abstract

The trajectory tracking control method of reconfigurable modular flexible manipulator based on parameter optimization relates to the control field of reconfigurable modular flexible manipulator. It establishes a single-joint intelligent body flexible manipulator system model, and uses the idea of ​​redefining the output to change the joint motor rotation angle And the linear combination of flexible modal variables is used as the output of the flexible manipulator system. Through input-output linearization, the single-joint flexible manipulator system is decomposed into two parts: the input-output subsystem and the zero-dynamic subsystem. The present invention adopts the self-adaptive dynamic terminal sliding mode control to make the input and output subsystem track the desired reference trajectory in a limited time, and the design parameter λ is adjusted by adopting the NSGA-II algorithm 0i ,λ 1i Multi-objective optimization design is carried out to make the zero dynamic subsystem of the flexible manipulator system asymptotically stable near the equilibrium point, thereby ensuring the tracking requirements of the entire flexible manipulator system to the expected trajectory; the present invention has better nonlinear uncertainty of the system robustness.

Description

technical field [0001] The invention relates to the control field of reconfigurable modularized flexible manipulators, in particular to a trajectory tracking control method of reconfigurable modularized flexible manipulators under the condition of uncertain parameters. Background technique [0002] According to the concept of module design and the theory of decentralized control of subsystems, the reconfigurable modular manipulator has standard interfaces and modules, and can change its configuration according to different task requirements under different external environments and constraints without redesigning the control system. device. In addition, the joints of the reconfigurable modular manipulator also include communication, drive, control, transmission and other units, so that the reconfigured manipulator has better adaptability to the new working environment. [0003] Many scholars have studied the dynamics and control methods of reconfigurable modular manipulator...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems that the reconfigurable modularized flexible manipulator increases the flexibility effect of joints and connecting rods during the movement process, the structure is deformed, the accuracy of task execution is reduced, and the reusability is low. A trajectory tracking control method for reconstructing a modular flexible manipulator, which first describes the manipulator dynamics model as a collection of cross-linked subsystems, and then decomposes the system into input-output subsystems and zero dynamics by redefining the system output For the input and output subsystems, an adaptive dynamic terminal sliding mode control strategy is proposed to carry out adaptive identification of subsystem related items, system uncertain items and disturbances; the zero dynamic subsystem is approximately linearized at the equilibrium point, and the controller The design parameters adopt NSGA-II algorithm for multi-objective optimization, so that the zero dynamic subsystem is asymptotically stable near the equilibrium point, so that the reconfigurable modular flexible manipulator subsystem with strong coupling and uncertain parameters can gradually track the desired trajectory. The method can change its own configuration according to different task needs under different external environments and constraints, and does not need to redesign the controller, and has strong robustness to uncertainties in the system

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